Title :
Robust tube-based MPC for constrained mobile robots under slip conditions
Author :
Gonzalez, R. ; Fiacchini, M. ; Guzman, J.L. ; Alamo, T.
Author_Institution :
Dipt. Lenguajes y Comput., Univ. of Almeria, Almeria, Spain
Abstract :
This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error model has been used, where uncertainties are assumed to be bounded and additive. The proposed solution to the control problem is a tube-based MPC ensuring robustness and stability. A comparative simulation example is presented showing the promising behavior of the robust MPC controller.
Keywords :
mobile robots; position control; predictive control; robust control; slip; stability; time-varying systems; constrained mobile robot; model predictive control law; path tracking control; robust tube-based MPC design; robustness; slip condition; stability; time-varying trajectory tracking error model; Additive noise; Control systems; Mobile robots; Predictive control; Predictive models; Robust control; Robust stability; Robustness; Trajectory; Uncertainty;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400508
